Dual-arm industrial robot is an upcoming technique; many industries started developing dualarm robots for the future. Dual-arm robot can be used in complex assembling and efficient than two separate robots. Most of the pick and place Dual-arm robots operate by using two arms individually. This research work is done to make the robot smart to pick and place object by either one or two arms based on its size. This paper shows the modeling and simulation of a Dual Arm robot that can identify and pick objects in front of it by object detection program in python. If object size is less than 100mm, robot use one arm, if size is more than 100mm two arms are used together. The forward and inverse kinematic calculation of the robot is done in MATLAB and Simulation of robot is done is V-Rep. The resulting simulation is obtained by forming communication between all three nodes Python, MATLAB and V-Rep.